Method and system for calculating spatial coordinate points of a region of interest, and non-transitory computer-readable recording medium

Abstract

According to one aspect of the present invention, a method for calculating spatial coordinate points of an area of ​​interest is provided, the method comprising the following steps: acquiring information about in-image coordinate points of an area of ​​interest contained in each of a plurality of images taken by a plurality of image modules respectively; specifying a candidate graphic containing a position of the target area of ​​interest in a reference space with reference to information about a position at which at least one image module among the plurality of image modules is installed and information about in-image coordinate points of a target area of ​​interest contained in an image taken by at least one image module; and specifying the position of the target area of ​​interest in a reference space with reference to a positional relationship between a first candidate graphic corresponding to a first image module of the target area of ​​interest and a second candidate graphic corresponding to a second image module of the target area of ​​interest.

Description

Technical Field

[0001] The present invention relates to a method, a system and a non-transitory computer-readable recording medium for calculating spatial coordinate points of an area of ​​interest. Background Art

[0002] In recent years, as people's interest in augmented reality (AR) or virtual reality (VR) has continued to increase and research and development in related technical fields have been actively carried out, various technologies for acquiring spatial coordinate points of an object have been introduced.

[0003] As one example of conventional technology, a three-dimensional coordinate measuring device for measuring three-dimensional coordinate points of a user's body using a time-of-flight (TOF) technique has been introduced.

[0004] However, according to the technologies introduced so far and the above-mentioned conventional technologies, there is a problem that excessive resources and a large amount of time are required to obtain the spatial coordinate points of an object because (1) when a single three-dimensional camera is used, there may be an area blocked by the camera depending on the position or direction of the object; (2) when two or more three-dimensional cameras are used, the spatial coordinate points of the desired area can be calculated only after receiving not only the coordinate points of the desired area from each camera of the multiple cameras but also all images containing the desired area and its surrounding areas (or the overall coordinate points corresponding thereto) and then integrating the received images to calculate the spatial coordinate points of all areas.

[0005] In this regard, (one or more) inventors have proposed a technology that is capable of receiving information about in-image coordinate points of an area of ​​interest contained in images captured by multiple image modules, and selectively calculating only spatial coordinate points of the area of ​​interest using the received information. Summary of the invention

[0006] Purpose of the Invention

[0007] An object of the present invention is to solve all the above-mentioned problems in the prior art.

[0008] Another object of the present invention is to calculate the coordinate points of the region of interest in the reference space by not acquiring images captured by a plurality of image modules but only acquiring information about the in-image coordinate points of the region of interest contained in the image.

[0009] Another object of the present invention is to prevent privacy violations caused by hacker intrusion, etc. by not acquiring images taken by multiple image modules but selectively collecting only information on in-image coordinate points of an area of ​​interest contained in the image.

[0010] Another object of the present invention is to calculate the coordinate points of the region of interest in the reference space using fewer resources.

[0011] Technical Solution

[0012] A representative configuration of the present invention for achieving the above-mentioned object is described below.

[0013] According to one aspect of the present invention, a method for calculating spatial coordinate points of an area of ​​interest is provided, the method comprising the following steps: acquiring information about in-image coordinate points of an area of ​​interest contained in each of a plurality of images taken by a plurality of image modules respectively; specifying a candidate graphic containing a position of the target area of ​​interest in a reference space with reference to information about a position at which at least one image module among the plurality of image modules is installed and information about in-image coordinate points of a target area of ​​interest contained in an image taken by the at least one image module; and specifying the position of the target area of ​​interest in a reference space with reference to a positional relationship between a first candidate graphic corresponding to the target area of ​​interest and a first image module and a second candidate graphic corresponding to the target area of ​​interest and a second image module.

[0014] According to another aspect of the present invention, a system for calculating spatial coordinate points of an area of ​​interest is provided, the system comprising: an information acquisition unit configured to acquire information about in-image coordinate points of an area of ​​interest contained in each of a plurality of images taken by a plurality of image modules respectively; and a spatial coordinate calculation unit configured to specify a candidate graphic containing a position of the target area of ​​interest in a reference space with reference to information about a position at which at least one image module among the plurality of image modules is installed and information about in-image coordinate points of a target area of ​​interest contained in an image taken by the at least one image module, and specify the position of the target area of ​​interest in the reference space with reference to a positional relationship between a first candidate graphic corresponding to the target area of ​​interest and the first image module and a second candidate graphic corresponding to the target area of ​​interest and the second image module.

[0015] In addition, other methods and systems for implementing the present invention, and a non-transitory computer-readable recording medium having stored thereon a computer program for executing the method are also provided.

[0016] Beneficial Effects

[0017] According to the present invention, coordinate points of the region of interest in the reference space can be calculated by not acquiring images photographed by a plurality of image modules but acquiring only information on in-image coordinate points of the region of interest contained in the image.

[0018] According to the present invention, it is possible to prevent privacy infringement problems due to hacker intrusion or the like by not acquiring images taken by a plurality of image modules but selectively collecting only information on in-image coordinate points of an area of ​​interest contained in the image.

[0019] According to the present invention, the coordinate points of the region of interest in the reference space can be calculated using fewer resources. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 The configuration of an overall system for calculating spatial coordinate points of a region of interest according to an embodiment of the present invention is schematically shown.

[0021] Figure 2 The internal configuration of a position calculation system according to an embodiment of the present invention is specifically shown.

[0022] Figure 3 The following schematically illustrates how to specify the position of a target region of interest in a reference space according to an embodiment of the present invention.

[0023] Figure 4 The following schematically illustrates how to consider the resolution of an image module to specify the position of a target region of interest in a reference space according to one embodiment of the present invention.

[0024] Figures 5 to 9 The following schematically illustrates how to specify a matching relationship between candidate graphics according to an embodiment of the present invention.

[0025] Fig.10 The following schematically illustrates how to specify the positional relationship between multiple image modules according to an embodiment of the present invention.

[0026] Fig.11 The following schematically shows how a position calculation system according to an embodiment of the present invention calculates spatial coordinate points of an area of ​​interest.

[0027] Fig.12 The figure schematically illustrates how to specify the positions of multiple image modules using information on the physical value of an object according to an embodiment of the present invention.

[0028] <Reference Numbers>

[0029] 100: Communication Network

[0030] 200: Position calculation system

[0031] 210: Information acquisition unit

[0032] 220: Space coordinate calculation unit

[0033] 230: Communication unit

[0034] 240: Control unit

[0035] 300: Image module DETAILED DESCRIPTION

[0036] In the following detailed description of the present invention, specific embodiments of the present invention are illustrated by way of illustration with reference to the accompanying drawings. These embodiments are described in sufficient detail to enable those skilled in the art to practice the present invention. It should be understood that the various embodiments of the present invention, although different from each other, do not necessarily exclude each other. For example, the specific shapes, structures and characteristics described herein may be implemented as modifications from one embodiment to another without departing from the spirit and scope of the present invention. In addition, it should be understood that the position or arrangement of each element in each embodiment in a plurality of embodiments may also be modified without departing from the spirit and scope of the present invention. Therefore, the following detailed description should not be considered to have a limiting meaning, and the scope of the present invention should be considered to include the scope of the attached claims and all equivalent forms thereof. In the accompanying drawings, similar reference numerals refer to the same or similar elements throughout several views.

[0037] Hereinafter, various preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily implement the present invention.

[0038] Overall system configuration

[0039] Figure 1 The configuration of an overall system for calculating spatial coordinate points of a region of interest according to an embodiment of the present invention is schematically shown.

[0040] like Figure 1 As shown, the overall system according to an embodiment of the present invention may include a communication network 100 , a position calculation system 200 , and a plurality of image modules 300 .

[0041] First, the communication network 100 according to one embodiment of the present invention can be implemented regardless of communication modes such as wired and wireless communications, and can be constructed by various communication networks, such as a local area network (LAN), a metropolitan area network (MAN), and a wide area network (WAN). Preferably, the communication network 100 described herein can be the Internet or the World Wide Web (WWW). However, the communication network 100 is not necessarily limited thereto, and can at least partially include a known wired / wireless data communication network, a known telephone network, or a known wired / wireless television communication network.

[0042] For example, the communication network 100 may be a wireless data communication network, at least a portion of which may utilize communications such as radio frequency (RF) communications, WiFi communications, cellular communications (e.g., Long Term Evolution (LTE) communications), Bluetooth communications (more specifically, Bluetooth Low Energy (BLE) communications), infrared communications, and ultrasonic communications.

[0043] Next, the position calculation system 200 according to one embodiment of the present invention may be a digital device having a storage device and a microprocessor for computing capabilities. The position calculation system 200 may be a server system.

[0044] According to one embodiment of the present invention, the position calculation system 200 can be used to: obtain information about the in-image coordinate points of the region of interest contained in each of the multiple images respectively taken by the multiple image modules 300 (to be described below); specify a candidate graphic containing the position of the target region of interest in the reference space with reference to information about the position at which at least one image module among the multiple image modules 300 is installed and information about the in-image coordinate points of the target region of interest contained in the image taken by the at least one image module; and specify the position of the target region of interest in the reference space with reference to the positional relationship between a first candidate graphic corresponding to the first image module 310 of the target region of interest and a second candidate graphic corresponding to the second image module 320 of the target region of interest.

[0045] The reference space according to one embodiment of the present invention may include a space defined in a coordinate system, and the position calculation system 200 according to the present invention calculates the spatial coordinate points of the region of interest relative to the space.

[0046] The configuration and functions of the position calculation system 200 according to the present invention will be discussed in more detail below. Meanwhile, although the position calculation system 200 has been described above, the above description is illustrative, and it is obvious to those skilled in the art that at least a portion of the functions or components required by the position calculation system 200 can be implemented or included in an external system (not shown) as needed.

[0047] Next, according to an embodiment of the present invention, multiple image modules 300 can be connected to the position calculation system 200 via the communication network 100, and can be used to specify at least one region of interest contained in multiple images respectively taken by the multiple image modules 300, and extract information about the coordinate points within the image of the specified region of interest.

[0048] For example, the plurality of image modules 300 according to an embodiment of the present invention may include a camera module (eg, two-dimensional, three-dimensional, etc.), an image or video sensor, etc.

[0049] Configuration of the position calculation system

[0050] Hereinafter, the internal configuration of the position calculation system 200 and the functions of its respective components which are essential for implementing the present invention will be discussed.

[0051] Figure 2 The internal configuration of the position calculation system 200 according to one embodiment of the present invention is specifically shown.

[0052] like Figure 2 As shown, the position calculation system 200 according to one embodiment of the present invention may include an information acquisition unit 210, a spatial coordinate calculation unit 220, a communication unit 230 and a control unit 240. According to one embodiment of the present invention, at least some of the information acquisition unit 210, the spatial coordinate calculation unit 220, the communication unit 230 and the control unit 240 may be program modules for communicating with an external system. The program modules may be included in the position calculation system 200 in the form of an operating system, an application program module and other program modules, and they may be physically stored in various well-known storage devices. In addition, the program modules may also be stored in a remote storage device that can communicate with the position calculation system 200. At the same time, such program modules may include but are not limited to routines, subroutines, programs, objects, components, data structures, commands for performing specific tasks or executing specific abstract data types, etc., which will be described below according to the present invention.

[0053] First, the information acquisition unit 210 according to an embodiment of the present invention may be used to acquire information on in-image coordinate points of a region of interest contained in each of a plurality of images respectively captured by a plurality of image modules 300 .

[0054] Specifically, the multiple image modules 300 according to an embodiment of the present invention can specify an image corresponding to the region of interest among the multiple images, and extract information about the coordinate points in the image of the specified region of interest. The information acquisition unit 210 can acquire the extracted information about the coordinate points in the image of the region of interest from each of the multiple image modules 300.

[0055] For example, according to one embodiment of the present invention, among the multiple images of the user's body taken by the multiple cameras 300, the image of a predetermined body part of the user (e.g., a hand, a fingertip, an eye, etc.) may be designated as the image of the region of interest. In addition, according to one embodiment of the present invention, each of the multiple cameras 300 may extract information about coordinate points within a two-dimensional or three-dimensional image of the designated region of interest, and the information acquisition unit 210 may acquire the extracted information about the two-dimensional or three-dimensional coordinate points from each of the multiple cameras 300. According to one embodiment of the present invention, the information about the coordinate points within the two-dimensional or three-dimensional image of the region of interest may be acquired from information about pixels or voxels within the image of the region of interest.

[0056] Next, the spatial coordinate calculation unit 220 according to an embodiment of the present invention may be used to specify a candidate graphic containing the position where the target region of interest is located in the reference space, with reference to information about the position where at least one of the multiple image modules 300 is installed and information about the in-image coordinate points of the target region of interest contained in the image captured by the at least one image module. The target region of interest according to an embodiment of the present invention may refer to at least one of the multiple regions of interest specified by each of the multiple image modules 300, or may be included in the multiple regions of interest specified by the multiple image modules 300 and the region of interest specified by at least some of the multiple image modules 300. In addition, the candidate graphic according to an embodiment of the present invention may refer to a point, a line (which may include a vector), a surface, a subject, or a collection thereof.

[0057] Specifically, the space coordinate calculation unit 220 according to an embodiment of the present invention may specify a candidate pattern including a position of a target interest region in the reference space relative to a position where at least one image module is installed in the reference space.

[0058] More specifically, when the first image module 310 and the second image module 320 of the plurality of image modules 300 are two-dimensional image modules, the spatial coordinate calculation unit 220 according to one embodiment of the present invention may designate a candidate graphic corresponding to each of the first image module 310 and the second image module 320, which includes the position of the target region of interest in the reference space, as a vector. In this case, according to one embodiment of the present invention, a vector may be established so that its initial point (or end point) is located at the coordinate point in the reference space where the corresponding image module is installed, and its end point (or initial point) is located at the coordinate point converted from the image intra-coordinate point of the target region of interest corresponding to the image module relative to the coordinate point in the reference space where the image module is installed. In addition, when the first image module 310 and the second image module 320 of the plurality of image modules 300 are three-dimensional image modules, the spatial coordinate calculation unit 220 according to one embodiment of the present invention may designate a candidate graphic corresponding to each of the first image module 310 and the second image module 320, which includes the position of the target region of interest in the reference space, as a spatial graphic (e.g., a cube, a cuboid, a sphere, etc.). In addition, when the first image module 310 and the second image module 320 among the multiple image modules 300 are respectively a three-dimensional image module and a two-dimensional image module, according to an embodiment of the present invention, the spatial coordinate calculation unit 220 can respectively designate the candidate graphics corresponding to the first image module 310 and the second image module 320 and containing the position of the target area of ​​interest in the reference space as spatial graphics and vectors.

[0059] In addition, the spatial coordinate calculation unit 220 according to an embodiment of the present invention may further specify a candidate graphic with reference to information about the properties of at least one image module among the plurality of image modules 300. According to an embodiment of the present invention, the properties of at least one image module may include information about the resolution, viewing angle, focal length, support for three dimensions, etc. of the image module.

[0060] For example, according to one embodiment of the present invention, the spatial coordinate calculation unit 220 can refer to information about the viewing angle, focal length, etc. of at least one image module among the multiple image modules 300 to determine at least one of the information about the conversion angle (for example, the rotation angle), the conversion position and the conversion shape (for example, the spatial figure when the image module 300 is a three-dimensional image module, or the vector when the image module 300 is a two-dimensional image module), which is used to convert the in-image coordinate points of the target area of ​​interest corresponding to the at least one image module into coordinate points in the reference space relative to the coordinate points in the reference space where the at least one image module is installed, thereby specifying the position of the target area of ​​interest corresponding to the at least one image module in the reference space and the candidate figures containing the position.

[0061] At the same time, when it is determined that some of the multiple image modules 300 (for example, the third image module) have difficulty in acquiring information about the in-image coordinate points of the target area of ​​interest (for example, when the area of ​​interest is blocked by the user and is not visible), the spatial coordinate calculation unit 220 according to an embodiment of the present invention may refer to information about the locations where image modules other than the third image module among the multiple image modules 300 are installed, and information about the in-image coordinate points of the target area of ​​interest contained in images captured by image modules other than the third image module among the multiple image modules 300.

[0062] In addition, the spatial coordinate calculation unit 220 according to an embodiment of the present invention can be used to refer to the positional relationship between the first candidate graphic corresponding to the first image module 310 of the target interest region and the second candidate graphic corresponding to the second image module 320 of the target interest region, and specify the position of the target interest region in the reference space.

[0063] For example, according to one embodiment of the present invention, when the first image module 310 and the second image module 320 are two-dimensional image modules, the candidate graphs of the first image module 310 and the second image module 320 may be designated as vectors, and the spatial coordinate calculation unit 220 may designate the intersection point between the first vector of the target region of interest corresponding to the first image module 310 and the second vector of the target region of interest corresponding to the second image module 320 as the position of the target region of interest in the reference space. At the same time, according to one embodiment of the present invention, when the first vector and the second vector do not intersect, the midpoint of the shortest line connecting the first vector and the second vector may be designated as the position of the target region of interest in the reference space.

[0064] As another example, according to one embodiment of the present invention, when the first image module 310 and the second image module 320 are three-dimensional image modules, the candidate graphs of the first image module 310 and the second image module 320 may be designated as spatial graphs, and the spatial coordinate calculation unit 220 may designate the position of the target region of interest in the reference space as the intersection area of ​​the first spatial graph corresponding to the first image module 310 and the second spatial graph corresponding to the second image module 320 of the target region of interest. More specifically, according to one embodiment of the present invention, when the first spatial graph and the second spatial graph completely intersect (i.e., overlap) with each other, the average coordinate point of the first spatial graph or the second spatial graph may be designated as the position of the target region of interest in the reference space. When the first spatial graph and the second spatial graph only partially intersect with each other, the midpoint of the line connecting the average coordinate points of the first spatial graph and the second spatial graph may be designated as the position of the target region of interest in the reference space.

[0065] As another example, refer to Figure 3 According to one embodiment of the present invention, when the first image module 310 and the second image module 320 are respectively a three-dimensional image module and a two-dimensional image module, the candidate graphs of the first image module 310 and the second image module 320 can be specified as spatial graphs and vectors, respectively, and the spatial coordinate calculation unit 220 can specify the intersection point between the third spatial graph 331, 332, 333 of the target region of interest corresponding to the first image module 310 and the third vector 341, 342, 343 of the target region of interest corresponding to the second image module 320 as the position of the target region of interest in the reference space. More specifically, according to one embodiment of the present invention, the midpoint of the shortest line connecting the third vector 341 and the average coordinate point of the third spatial graph 331 can be specified as the position of the target region of interest in the reference space.

[0066] Meanwhile, the space coordinate calculation unit 220 according to an embodiment of the present invention may further refer to the resolution information among the information on the properties of the image module to specify the point where the target region of interest is located in the reference space.

[0067] Specifically, according to an embodiment of the present invention, the space coordinate calculation unit 220 may adaptively determine the area or volume of the candidate graphic indicating the position of the target region of interest in the reference space according to the resolution of the image module.

[0068] For example, refer to Figure 4According to an embodiment of the present invention, the spatial coordinate calculation unit 220 can refer to the information about the resolution of the first image module 310 (which is a three-dimensional image module) to establish a first cube 401, a second cube 402 and a third cube 403 in the reference space, respectively, corresponding to the in-image coordinate points of multiple target regions of interest of the first image module 310, and can determine that the volumes of the above cubes (i.e., the first cube 401, the second cube 402 and the third cube 403) are larger when the resolution of the first image module 310 is lower.

[0069] As another example, the spatial coordinate calculation unit 220 according to one embodiment of the present invention may refer to information about the resolution of the second image module 320 (which is a two-dimensional image module) to establish a first quadrilateral 411, a second quadrilateral 421, and a third quadrilateral 431 in the reference space, respectively, corresponding to the in-image coordinate points of multiple target regions of interest of the second image module 320, and may determine that the areas of the above quadrilaterals are larger when the resolution of the second image module 320 is lower. In addition, in this case, according to one embodiment of the present invention, the spatial coordinate calculation unit 220 may not use the vector of the target region of interest corresponding to the second image module 320 described above, but instead use a quadrangular pyramid (i.e., a first quadrangular pyramid, a second quadrangular pyramid, and a third quadrangular pyramid) connecting the position where the second image module 320 is installed in the reference space and the quadrilaterals corresponding to the in-image coordinate points of the target region of interest in the reference space to specify the position of the target region of interest in the reference space.

[0070] At the same time, the shape of the surface that can be established in the reference space corresponding to the image coordinate points of the target region of interest according to the present invention is not limited to the quadrilateral described above, but can be changed to a circle, a triangle, a pentagon, etc., as long as the purpose of the present invention can be achieved. The shape of the solid that can be established in the reference space corresponding to the image coordinate points of the target region of interest according to the present invention is not limited to the cube described above, but can be changed to a cuboid, a sphere, an ellipsoid, etc.

[0071] In addition, according to an embodiment of the present invention, the spatial coordinate calculation unit 220 can specify a candidate graphic whose positional relationship will match the first candidate graphic of the first image module 310 (or the second image module 320) among at least one candidate graphic of the second image module 320 (or the first image module 310).

[0072] For example, refer to Figure 5According to an embodiment of the present invention, at least one of the multiple image modules 300 can be synchronized with each other based on frames, and the spatial coordinate calculation unit 220 can specify, based on each frame synchronized between the first image module 310 and the second image module 320, a candidate graphic 521 whose positional relationship will match the first candidate graphic 511 among the multiple candidate graphics 511, 512, 513 of the first image module 310 (or the second image module 320) among at least one candidate graphic 521, 522, 523 of the second image module 320 (or the first image module 310).

[0073] As another example, refer to Figure 6 The information about the coordinate points in the image of the region of interest acquired by the information acquisition unit 210 according to one embodiment of the present invention may include identification information 601, 602, 603, 604, 605, 611, 612, 613, 614, 615 that can be distinguished between image modules or target regions of interest. The spatial coordinate calculation unit 220 may refer to the identification information 601, 602, 603, 604, 605, 611, 612, 613, 614, 615 to specify a candidate graphic 611 whose positional relationship will match the first candidate graphic 601 of the first image module 310 (or the second image module 320) among at least one candidate graphic 611, 612, 613, 614, 615 of the second image module 320 (or the first image module 310). Furthermore, the identification information according to one embodiment of the present invention may include information on at least one of a shape, a color, a temperature, a pattern, and a mark (eg, an emoji, a QR code, etc.) specified in the image of the region of interest.

[0074] As another example, according to one embodiment of the present invention, when the candidate graphics of the first image module 310 and the second image module 320 are not one-to-one matched (for example, when the number of candidate graphics of the first image module is different from the number of candidate graphics of the second image module 320, or when there is a many-to-many relationship), the spatial coordinate calculation unit 220 may specify a candidate graphic that will match the first candidate graphic of the first image module 310 (or the second image module 320) among at least one candidate graphic of the second image module 320 (or the first image module 310) by specifying candidate graphics that can be grouped among the candidate graphics of the first image module 310 and the second image module 320.

[0075] For example, refer to Figures 7 to 9When the matching relationship between the candidate graphics of the first image module 310 and the second image module 320 (in this case, vectors or spatial graphics) is not a one-to-one relationship, the spatial coordinate calculation unit 220 according to an embodiment of the present invention can group and match vectors or spatial graphics within a predetermined distance from vectors or spatial graphics that do not have a one-to-one match.

[0076] In addition, the spatial coordinate calculation unit 220 according to one embodiment of the present invention may specify information about the positional relationship of the plurality of image modules 300 with reference to coordinate points corresponding to at least three target regions of interest. According to one embodiment of the present invention, the information about the positional relationship may include information about an angle formed between the plurality of image modules 300, an angle at which the plurality of image modules 300 are tilted in a reference space, and a shooting direction of the plurality of image modules 300.

[0077] Specifically, when obtaining information about the in-image coordinate points of at least three target regions of interest from each of the multiple image modules 300, the spatial coordinate calculation unit 220 according to an embodiment of the present invention can specify information about the positional relationship of the multiple image modules 30 with reference to at least three intersection points (or intersection areas) between the candidate graphics of the target regions of interest corresponding to the multiple image modules 300.

[0078] For example, refer to Fig.10 According to one embodiment of the present invention, when the in-image coordinate points of the three target regions of interest are respectively the first to third coordinate points 1001, 1002, 1003 in the first image module 310 and the fourth to sixth coordinate points 1004, 1005, 1006 in the second image module 320 (the first image module and the second image module are two-dimensional image modules), three points in the reference space can be specified, where the first vector 1011, the second vector 1012 and the third vector 1013 of the target region of interest corresponding to the first image module 310 intersect with the fourth vector 1021, the fifth vector 1022 and the sixth vector 1023 of the target region of interest corresponding to the second image module 320, so that the positional relationship between the first image module 310 and the second image module 320 can be specified based on these three points.

[0079] As another example, according to one embodiment of the present invention, when the in-image coordinate points of three target regions of interest are respectively the seventh to ninth coordinate points in the first image module 310 and the tenth to twelfth coordinate points in the second image module 320 (the first image module and the second image module are three-dimensional image modules), three regions in the reference space can be specified, wherein the first spatial graphic, the second spatial graphic and the third spatial graphic of the target region of interest corresponding to the first image module 310 intersect with the fourth spatial graphic, the fifth spatial graphic and the sixth spatial graphic of the target region of interest corresponding to the second image module 320, so that the positional relationship between the first image module 310 and the second image module 320 can be specified based on these three regions.

[0080] As another example, according to one embodiment of the present invention, when the in-image coordinate points of the three target regions of interest are the thirteenth to fifteenth coordinate points in the first image module 310 and the sixteenth to eighteenth coordinate points in the second image module 320 (the first image module and the second image module are two-dimensional and three-dimensional image modules), three points in the reference space can be specified, where the seventh vector, the eighth vector and the ninth vector of the target region of interest corresponding to the first image module 310 intersect with the seventh spatial graphic, the eighth spatial graphic and the ninth spatial graphic corresponding to the second image module 320 of the target region of interest, so that the positional relationship between the first image module 310 and the second image module 320 can be specified based on these three points.

[0081] Next, the communication unit 230 according to one embodiment of the present invention may be used to enable data to be received / sent from / to the information acquisition unit 210 and the spatial coordinate calculation unit 220 .

[0082] Finally, the control unit 240 according to an embodiment of the present invention can be used to control the data flow in the information acquisition unit 210, the spatial coordinate calculation unit 220 and the communication unit 230. That is, the control unit 240 according to the present invention can control the data flow into / out of the position calculation system 200 or between the various components of the position calculation system 200, so that the information acquisition unit 210, the spatial coordinate calculation unit 220 and the communication unit 230 can respectively perform their specific functions.

[0083] Fig.11 The following schematically shows how the position calculation system 200 according to one embodiment of the present invention calculates the spatial coordinate points of the region of interest.

[0084] According to one embodiment of the present invention, it can be assumed that the spatial coordinate point of the region of interest is calculated by the first image module 310 and the second image module 320 as two-dimensional image modules. In addition, in this case, the region of interest according to one embodiment of the present invention can be the point 1130 of the user's finger gun.

[0085] First, according to one embodiment of the present invention, information about the in-image coordinate points 1110 and 1120 of the region of interest 1130 included in the plurality of images respectively captured by the first image module 310 and the second image module 320 may be acquired. That is, according to one embodiment of the present invention, the position calculation system 200 does not acquire the images captured by the first image module 310 and the second image module 320, but acquires information about the in-image coordinate points of the region of interest included in these images.

[0086] Next, according to one embodiment of the present invention, vectors 1140 and 1150 including the position where the target region of interest 1130 is located in the reference space may be specified based on information about the position where the first image module 310 and the second image module 320 are installed, and information about the in-image coordinate points 1110 and 1120 of the target region of interest 1130 included in the images captured by the first image module 310 and the second image module 320. That is, according to one embodiment of the present invention, a first vector 1140 corresponding to the target region of interest 1130 and the first image module 310 in the reference space and a second vector 1150 corresponding to the target region of interest 1130 and the second image module 320 in the reference space may be specified, respectively.

[0087] Next, according to an embodiment of the present invention, an intersection point 1160 between the first vector 1140 and the second vector 1150 may be designated as the position where the target region of interest 1130 is located in the reference space.

[0088] Next, according to an embodiment of the present invention, the position calculation system 200 may calculate a coordinate point 1160 corresponding to a designated position in the reference space as a spatial coordinate point of the region of interest 1130 according to the present invention.

[0089] Fig.12 It schematically illustrates how to specify the positions of a plurality of image modules 300 using information on physical values ​​of an object according to an embodiment of the present invention.

[0090] The position calculation system 200 according to one embodiment of the present invention can refer to information about the physical value of an object in the real world (such as the length, size, area and volume of the object) to specify the coordinate points of the positions where multiple image modules 300 are installed in the reference space.

[0091] For example, refer to Fig.12 , when the object 1250 is a quadrilateral, the position calculation system 200 according to one embodiment of the present invention can obtain information about the coordinate points 1201, 1202, 1203, 1204, 1205, 1206, 1207 and 1208 in the image of the target interest region by determining each corner point of the object 1250 as the target interest region, and compare and analyze the acquired information about the coordinate points 1201, 1202, 1203, 1204, 1205, 1206, 1207 and 1208 and the information about the physical values ​​(such as width, depth, height and angle) of the object 1250 in the real world to specify the coordinate points of the positions where the first image module 310 and the second image module 320 are installed in the reference space. At the same time, according to one embodiment of the present invention, the position calculation system 200 can further refer to the information about the coordinate points of each corner point of the object 1250 in the reference space to specify the coordinate points of the positions where the first image module 310 and the second image module 320 are installed in the reference space.

[0092] As described above, the embodiments of the present invention can be implemented in the form of program instructions, which can be executed by various computer components and can be stored on a computer-readable recording medium. The computer-readable recording medium can include program instructions, data files and data structures alone or in combination. The program instructions stored on the computer-readable recording medium can be specially designed and configured for the present invention, or are also known and available to those skilled in the art of computer software. Examples of computer-readable recording media include the following: magnetic media such as hard disks, floppy disks and tapes; optical media such as compact disk read-only memories (CD-ROMs) and digital versatile disks (DVDs); magneto-optical media such as floppy disks (magneto-optical media); and hardware devices specially configured for storing and executing program instructions, such as read-only memories (ROMs), random access memories (RAMs) and flash memories. Examples of program instructions include not only machine language codes created by compilers, but also high-level language codes that can be executed by computers using interpreters. The above hardware devices can be changed into one or more software modules to perform the processing of the present invention, and vice versa.

[0093] Although the present invention has been described above according to specific items such as detailed elements and limited embodiments and drawings, they are provided only to help a more general understanding of the present invention, and the present invention is not limited to the above embodiments. It will be understood by those skilled in the art to which the present invention relates that various modifications and changes can be made based on the above description.

[0094] Therefore, the spirit of the present invention is not limited to the embodiments described above, and the entire scope of the appended claims and their equivalents will fall within the scope and spirit of the present invention.

Claims

1. A method for calculating spatial coordinate points of an area of ​​interest, the method comprising the following steps: acquiring information about in-image coordinate points of a region of interest contained in each of a plurality of images respectively captured by a plurality of image modules; specifying a candidate pattern in a reference space, the candidate pattern including the position of the target region of interest in the reference space, with reference to information about a position at which at least one of the plurality of image modules is installed and information about an in-image coordinate point of a target region of interest included in an image captured by the at least one image module; as well as Referring to the positional relationship between a first candidate graphic of the target region of interest corresponding to the first image module and a second candidate graphic of the target region of interest corresponding to the second image module, specifying the position of the target region of interest in the reference space; The step of specifying the position of the target region of interest in the reference space comprises the following steps: determining whether the first candidate graph and the second candidate graph intersect each other; In response to determining that the first candidate graph and the second candidate graph intersect each other, specifying the position of the target region of interest in the reference space at a midpoint of a shortest line connecting the first candidate graph and the second candidate graph; and In response to determining that the first candidate graph and the second candidate graph do not intersect each other, specifying the position of the target region of interest in the reference space based on a line connecting the first candidate graph and the second candidate graph; The areas or volumes of the first candidate graphics and the second candidate graphics are adaptively determined according to the resolutions of the first image module and the second image module.

2. The method according to claim 1, wherein: In the step of specifying the candidate graphics, the candidate graphics are specified with further reference to properties of the at least one image module.

3. The method according to claim 1, wherein: When the first image module and the second image module are two-dimensional image modules, the first candidate graphic and the second candidate graphic are designated as vectors.

4. The method according to claim 3, wherein: The position where the target region of interest is located is designated as an intersection point between a first vector of the target region of interest corresponding to the first image module and a second vector of the target region of interest corresponding to the second image module.

5. The method according to claim 1, wherein: When the first image module and the second image module are three-dimensional image modules, the first candidate graph and the second candidate graph are designated as space graphs.

6. The method according to claim 5, wherein: The position where the target region of interest is located is specified as an intersection area between a first spatial pattern of the target region of interest corresponding to the first image module and a second spatial pattern of the target region of interest corresponding to the second image module.

7. The method according to claim 1, wherein: When the first image module and the second image module are respectively a three-dimensional image module and a two-dimensional image module, the first candidate graphic and the second candidate graphic are respectively designated as a spatial graphic and a vector.

8. The method according to claim 7, wherein: The position where the target region of interest is located is designated as an intersection point between a spatial figure of the target region of interest corresponding to the first image module and a vector of the target region of interest corresponding to the second image module.

9. The method according to claim 1, wherein: Information on positional relationships between the plurality of image modules is specified with reference to information on in-image coordinate points of at least three target regions of interest.

10. The method according to claim 1, wherein: The first candidate pattern of the first image module and the second candidate pattern of the second image module are matched with each other based on each frame synchronized between the first image module and the second image module.

11. The method according to claim 1, wherein: The information about the coordinate points within the image of the target region of interest includes identification information distinguishable between multiple target regions of interest, and the first candidate graphic of the first image module and the second candidate graphic of the second image module are matched with each other based on the identification information.

12. The method according to claim 1, wherein: When the first candidate graphic of the first image module and the second candidate graphic of the second image module are not one-to-one matched, candidate graphics that can be grouped among the first candidate graphic of the first image module and the second candidate graphic of the second image module are specified, and the candidate graphics are matched with each other. 13 . A non-transitory computer-readable recording medium having stored thereon a computer program for executing the method of claim 1 .

14. A system for calculating spatial coordinate points of a region of interest, the system comprising: an information acquisition unit configured to acquire information about in-image coordinate points of a region of interest contained in each of a plurality of images respectively captured by a plurality of image modules; as well as a spatial coordinate calculation unit configured to specify a candidate pattern in a reference space with reference to information about a position at which at least one of the plurality of image modules is installed and information about an in-image coordinate point of a target region of interest contained in an image captured by the at least one image module, the candidate pattern including a position of the target region of interest in the reference space, and specify the position of the target region of interest in the reference space with reference to a positional relationship between a first candidate pattern of the target region of interest corresponding to a first image module and a second candidate pattern of the target region of interest corresponding to a second image module; The spatial coordinate calculation unit is configured as follows: determining whether the first candidate graph and the second candidate graph intersect each other; In response to determining that the first candidate graph and the second candidate graph intersect each other, specifying the position of the target region of interest in the reference space based on an intersection point or an intersection area between the first candidate graph and the second candidate graph; as well as In response to determining that the first candidate graph and the second candidate graph do not intersect each other, specifying the position of the target region of interest in the reference space at a midpoint of a shortest line connecting the first candidate graph and the second candidate graph; The areas or volumes of the first candidate graphics and the second candidate graphics are adaptively determined according to the resolutions of the first image module and the second image module.

Images